ROS2 galactic zmq接收问题

[1012327963]

我想让他在边接收的时候，边录制bag包的形成，但每次录制完只有db3的包，没有metadata文件这是为什么呢

#include <rclcpp/rclcpp.hpp>
#include <zmq.hpp>
#include "rosbag2_cpp/writer.hpp"
#include "rosbag2_storage/storage_options.hpp"
#include "std_msgs/msg/string.hpp"
#include <chrono>
#include <csignal>

class ZeroMQListener : public rclcpp::Node
{
public:
  ZeroMQListener() : Node("listener_zmq")
  {
    auto node = std::make_shared<rclcpp::Node>("bagzmq_write");
    //zmq::context_t context(1);
    zmq::context_t context(1);
    zmq::socket_t subscriber(context, ZMQ_SUB);
    rclcpp::spin(node);
    std::string topic = "";
    subscriber.setsockopt(ZMQ_SUBSCRIBE, topic.c_str(), topic.length());  // 允许所有消息

    int linger = 0;  // 正确关闭 ZeroMQ
    subscriber.setsockopt(ZMQ_LINGER, &linger, sizeof(linger));
    subscriber.connect("tcp://localhost:6666");

    // 创建rosbag2的Writer对象
    writer_ = std::make_unique<rosbag2_cpp::Writer>();

    // 打开袋文件，模式为写入
    rosbag2_storage::StorageOptions storage_options;
    storage_options.uri = "hellolistener.db3"; // 文件夹路径，包含文件名，使用 .db3 后缀
    storage_options.storage_id = "sqlite3"; // 数据库类型
    writer_->open(storage_options);

    // 设置信号处理
    signal(SIGINT, [](int signo) {
      RCLCPP_INFO(rclcpp::get_logger("ZeroMQListener"), "接收到信号，正在关闭...");
      std::this_thread::sleep_for(std::chrono::seconds(10));
      should_exit_ = true;
    });

    while (rclcpp::ok() && !should_exit_) {
      zmq::message_t message;
      int rc = subscriber.recv(&message);
      if (rc) {
        std::string recv_string;
        std::istringstream iss(static_cast<char*>(message.data()));
        std::getline(iss, recv_string);
        RCLCPP_INFO(this->get_logger(), "接收到的数据为 %s", recv_string.c_str());
        
        // 获取当前时间作为时间戳
        std_msgs::msg::String msg;
        msg.data = recv_string;
        
        for (int i = 0; i < 1; i++) {
        // 获取当前时间作为时间戳
        rclcpp::Time timestamp = node->now();

        // 手动增加纳秒以确保每次时间戳不同
        timestamp = timestamp + rclcpp::Duration(i, 0);

        writer_->write(msg, "/chatter", timestamp);
        std::cout << "ok!" << std::endl;
        std::cout << "写入的消息为:" << msg.data.c_str()<<std::endl;
        rclcpp::sleep_for(std::chrono::seconds(1));
    }
        
      }
      
      
    }

    // 在这里清理您的套接字和上下文
    subscriber.close();
    context.close();
    

    // 等待rosbag2处理元数据写入
    rclcpp::sleep_for(std::chrono::seconds(60));
  }

private:
  static std::atomic<bool> should_exit_;
  std::unique_ptr<rosbag2_cpp::Writer> writer_;
  
};

std::atomic<bool> ZeroMQListener::should_exit_{false};

int main(int argc, char** argv)
{ 
  setlocale(LC_ALL,"");
  
  rclcpp::init(argc, argv);

  rclcpp::spin(std::make_shared<ZeroMQListener>());
  std::this_thread::sleep_for(std::chrono::seconds(30));
  rclcpp::shutdown();
  return 0;
}